This repository provides implementation of an incremental k-d tree for robotic applications.

LiLi-OM is a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.

Robust LiDAR SLAM with a versatile plug-and-play loop closing and pose-graph optimization.

[ICRA@40] MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System

[CVPR2023] DeepMapping2: Self-Supervised Large-Scale LiDAR Map Optimization

Make it Dense: Self-Supervised Geometric Scan Completion of Sparse 3D LiDAR Scans in Large Outdoor Environments

This is the official repository of LiLi-OM, a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.

Final Year Project